Application-based controls for wheelchair-accessible autonomous vehicle

ABSTRACT

The subject disclosure relates to techniques for application-based controls of a wheelchair-accessible autonomous vehicle. A process of the disclosed technology can include steps for receiving a request for a wheelchair-accessible autonomous vehicle (WAV) to execute an ingress function, wherein the ingress function includes a deployment of a wheelchair ramp by the WAV, sending an ingress command to the WAV in response to the request, wherein the ingress command comprises instructions cause the WAV to execute the ingress function at a specified pick-up location, and receiving feedback from the WAV, the feedback includes sensor data associated with a wheelchair ramp and status information associated with the ingress function. Machine-readable media and systems are also provided.

BACKGROUND 1. Technical Field

The subject disclosure provides solutions for accessingwheelchair-accessible autonomous vehicles and in particular for usingapplication-based controls to request the wheelchair-accessibleautonomous vehicles to execute functions.

2. Introduction

In current vehicles, another individual must help passengers withwheelchairs to get into and out of the vehicle. In some instances, ahuman driver may be unable to assist with loading and unloading thewheelchair into the vehicle. This problem is exacerbated as vehiclesbecome autonomous and no longer have human drivers. In an autonomousridesharing environment, there will not necessarily be an additionalindividual to assist with the ingress and egress processes.

BRIEF DESCRIPTION OF THE DRAWINGS

Certain features of the subject technology are set forth in the appendedclaims. However, the accompanying drawings, which are included toprovide further understanding, illustrate disclosed aspects and togetherwith the description serve to explain the principles of the subjecttechnology. In the drawings:

FIG. 1 illustrates an example environment that includes an autonomousvehicle in communication with a remote computing system, according tosome aspects of the disclosed technology.

FIG. 2 illustrates an example environment that includes a passengerentering a wheelchair-accessible autonomous vehicle, according to someaspects of the disclosed technology.

FIG. 3A-3B illustrate example environments during various example stepsof a passenger entering a wheelchair-accessible autonomous vehicle,according to some aspects of the disclosed technology.

FIG. 4 illustrates an example method for a passenger ingress process,according to some aspects of the disclosed technology.

FIG. 5 illustrates an example method for a passenger egress process,according to some aspects of the disclosed technology.

FIG. 6 illustrates an example processor-based system with which someaspects of the subject technology can be implemented.

DETAILED DESCRIPTION

The detailed description set forth below is intended as a description ofvarious configurations of the subject technology and is not intended torepresent the only configurations in which the subject technology can bepracticed. The appended drawings are incorporated herein and constitutea part of the detailed description. The detailed description includesspecific details for the purpose of providing a more thoroughunderstanding of the subject technology. However, it will be clear andapparent that the subject technology is not limited to the specificdetails set forth herein and may be practiced without these details. Insome instances, structures and components are shown in block diagramform in order to avoid obscuring the concepts of the subject technology.

As described herein, one aspect of the present technology is thegathering and use of data available from various sources to improvequality and experience. The present disclosure contemplates that in someinstances, this gathered data may include personal information. Thepresent disclosure contemplates that the entities involved with suchpersonal information respect and value privacy policies and practices.

For passengers who utilize wheelchairs, entering and exiting vehiclesrequires many different steps and procedures. Furthermore, in currentvehicles, passengers who utilize wheelchairs regularly need anotherindividual to assist the passenger with entering the vehicle. Forexample, an assistant or driver may assist the passenger by opening adoor to the vehicle, unloading a ramp, securing the wheelchair in acabin of the vehicle, loading the ramp, closing the vehicle door, etc.

These needs are doubled when the passenger eventually exits from thevehicle. In other words, an assistant or driver may need to assist thepassenger by opening the door to the vehicle, unloading the ramp,releasing the wheelchair from any restraint systems in the cabin of thevehicle, loading the ramp, closing the door, etc.

These problems are further exacerbated with autonomous vehicles.Autonomous vehicles may not have a human driver to assist the passengerwith entering and/or exiting the vehicle. Especially when autonomousvehicles are used in ridesharing environments, there will be scenarios,in which there is not an additional individual to assist with thesetasks. Thus, there is a need for a wheelchair-accessible autonomousvehicle that passengers using wheelchairs can operate without anotherperson to physically assist with ingress and/or egress.

Accordingly, aspects of the disclosed technology address the limitationsof vehicles for wheelchair passengers. More specifically, a wheelchairpassenger may utilize an application on a mobile device to send requeststo and/or control wheelchair-accessible systems on an autonomousvehicle. In some aspects, a remote computing system may receive arequest for a wheelchair-accessible autonomous vehicle (WAV) to executean ingress function, such as deployment of a wheelchair ramp by the WAV.Furthermore, in response to the request, the remote computing system maysend an ingress command to the WAV, such that the ingress commandincludes instructions to cause the WAV to execute the ingress function.Additionally, the remote computing system may receive feedback from theWAV indicating sensor data associated with the wheelchair ramp andstatus information associated with the ingress function.

FIG. 1 illustrates environment 100 that includes an autonomous vehicle102 in communication with a remote computing system 150.

The autonomous vehicle 102 can navigate about roadways without a humandriver based upon sensor signals output by sensor systems 104-106 of theautonomous vehicle 102. The autonomous vehicle 102 includes a pluralityof sensor systems 104-106 (a first sensor system 104 through an Nthsensor system 106). The sensor systems 104-106 are of different typesand are arranged about the autonomous vehicle 102. For example, thefirst sensor system 104 may be a camera sensor system, and the Nthsensor system 106 may be a lidar sensor system. Other exemplary sensorsystems include radar sensor systems, global positioning system (GPS)sensor systems, inertial measurement units (IMU), infrared sensorsystems, laser sensor systems, sonar sensor systems, and the like.

The autonomous vehicle 102 further includes several mechanical systemsthat are used to effectuate appropriate motion of the autonomous vehicle102. For instance, the mechanical systems can include but are notlimited to, a vehicle propulsion system 130, a braking system 132, and asteering system 134. The vehicle propulsion system 130 may include anelectric motor, an internal combustion engine, or both. The brakingsystem 132 can include an engine brake, brake pads, actuators, and/orany other suitable componentry that is configured to assist indecelerating the autonomous vehicle 102. The steering system 134includes suitable componentry that is configured to control thedirection of movement of the autonomous vehicle 102 during navigation.

The autonomous vehicle 102 further includes a safety system 136 that caninclude various lights and signal indicators, parking brake, airbags,etc. The autonomous vehicle 102 further includes a cabin system 138 thatcan include cabin temperature control systems, in-cabin entertainmentsystems, etc.

The autonomous vehicle 102 further includes a wheelchair accessibilitysystem 140 that can include various electrical and mechanical systemsincluding, but not limited to, doors, ramps, restraint systems, etc.Wheelchair accessibility system 140 is configured to assist passengersutilizing wheelchairs during ingress and egress of the autonomousvehicle 102.

The autonomous vehicle 102 additionally comprises an internal computingsystem 110 that is in communication with the sensor systems 104-106 andthe systems 130, 132, 134, 136, 138, and 140. The internal computingsystem includes at least one processor and at least one memory havingcomputer-executable instructions that are executed by the processor. Thecomputer-executable instructions can make up one or more servicesresponsible for controlling the autonomous vehicle 102, communicatingwith remote computing system 150, receiving inputs from passengers orhuman co-pilots, logging metrics regarding data collected by sensorsystems 104-106 and human co-pilots, etc.

The internal computing system 110 can include a control service 112 thatis configured to control the operation of the vehicle propulsion system130, the braking system 132, the steering system 134, the safety system136, and the cabin system 138. The control service 112 receives sensorsignals from the sensor systems 104-106 as well communicates with otherservices of the internal computing system 110 to effectuate operation ofthe autonomous vehicle 102. In some embodiments, control service 112 maycarry out operations in concert one or more other systems of autonomousvehicle 102.

The internal computing system 110 can also include a constraint service114 to facilitate safe propulsion of the autonomous vehicle 102. Theconstraint service 114 includes instructions for activating a constraintbased on a rule-based restriction upon operation of the autonomousvehicle 102. For example, the constraint may be a restriction uponnavigation that is activated in accordance with protocols configured toavoid occupying the same space as other objects, abide by traffic laws,circumvent avoidance areas, etc. In some embodiments, the constraintservice can be part of the control service 112.

The internal computing system 110 can also include a communicationservice 116. The communication service can include both software andhardware elements for transmitting and receiving signals from/to theremote computing system 150. The communication service 116 is configuredto transmit information wirelessly over a network, for example, throughan antenna array that provides personal cellular (long-term evolution(LTE), 3G, 5G, etc.) communication.

In some embodiments, one or more services of the internal computingsystem 110 are configured to send and receive communications to remotecomputing system 150 for such reasons as reporting data for training andevaluating machine learning algorithms, requesting assistance fromremoting computing system or a human operator via remote computingsystem 150, software service updates, ridesharing pickup and drop offinstructions etc.

The internal computing system 110 can also include a latency service118. The latency service 118 can utilize timestamps on communications toand from the remote computing system 150 to determine if a communicationhas been received from the remote computing system 150 in time to beuseful. For example, when a service of the internal computing system 110requests feedback from remote computing system 150 on a time-sensitiveprocess, the latency service 118 can determine if a response was timelyreceived from remote computing system 150 as information can quicklybecome too stale to be actionable. When the latency service 118determines that a response has not been received within a threshold, thelatency service 118 can enable other systems of autonomous vehicle 102or a passenger to make necessary decisions or to provide the neededfeedback.

The internal computing system 110 can also include a user interfaceservice 120 that can communicate with cabin system 138 in order toprovide information or receive information to a human co-pilot or humanpassenger. In some embodiments, a human co-pilot or human passenger maybe required to evaluate and override a constraint from constraintservice 114, or the human co-pilot or human passenger may wish toprovide an instruction to the autonomous vehicle 102 regardingdestinations, requested routes, or other requested operations.

As described above, the remote computing system 150 is configured tosend/receive a signal from the autonomous vehicle 102 regardingreporting data for training and evaluating machine learning algorithms,requesting assistance from remote computing system 150 or a humanoperator via the remote computing system 150, software service updates,rideshare pickup and drop off instructions, etc.

The remote computing system 150 includes an analysis service 152 that isconfigured to receive data from autonomous vehicle 102 and analyze thedata to train or evaluate machine learning algorithms for operating theautonomous vehicle 102. The analysis service 152 can also performanalysis pertaining to data associated with one or more errors orconstraints reported by autonomous vehicle 102.

The remote computing system 150 can also include a user interfaceservice 154 configured to present metrics, video, pictures, soundsreported from the autonomous vehicle 102 to an operator of remotecomputing system 150. User interface service 154 can further receiveinput instructions from an operator that can be sent to the autonomousvehicle 102.

The remote computing system 150 can also include an instruction service156 for sending instructions regarding the operation of the autonomousvehicle 102. For example, in response to an output of the analysisservice 152 or user interface service 154, instructions service 156 canprepare instructions to one or more services of the autonomous vehicle102 or a co-pilot or passenger of the autonomous vehicle 102.

The remote computing system 150 can also include a rideshare service 158configured to interact with ridesharing application 170 operating on(potential) passenger computing devices. The rideshare service 158 canreceive requests to be picked up or dropped off from passengerridesharing app 170 and can dispatch autonomous vehicle 102 for thetrip. The rideshare service 158 can also act as an intermediary betweenthe ridesharing app 170 and the autonomous vehicle wherein a passengermight provide instructions to the autonomous vehicle 102 to go around anobstacle, change routes, honk the horn, etc. The ridesharing application170 can also be configured to receive requests specifically forwheelchair-accessible autonomous vehicles 102. Similarly, ridesharingapp 170 can also be configured to receive requests from a passenger forthe autonomous vehicle 102 to perform a function and send the request tothe rideshare service 158 of the remote computing system 150. The remotecomputing system 150 can then process the request and send commands tothe communication service 116 of the internal computing system of theautonomous vehicle 102, so that the autonomous vehicle 102 can executethe request.

As described herein, one aspect of the present technology is thegathering and use of data available from various sources to improvequality and experience. The present disclosure contemplates that in someinstances, this gathered data may include personal information. Thepresent disclosure contemplates that the entities involved with suchpersonal information respect and value privacy policies and practices.

FIG. 2 shows an example environment 200, in which an autonomous vehicle102 has accessories to be wheelchair accessible. Accordingly, autonomousvehicle 102 is a wheelchair-accessible autonomous vehicle (WAV) 102.More specifically, WAV 102 has automatic doors 202, a wheelchair ramp210, and a wheelchair restraint system 220. Thus, WAV 102 is configuredto accommodate a wheelchair 250 of a passenger and/or a wheelchairpassenger 250.

The automatic doors 202 are configured to receive commands from aninternal computing system, such as the internal computing system 110,and/or a remote computing system, such as remote computing system 150.The doors 202 can, in response to receive commands from the internalcomputing system and/or remote computing system, automatically openand/or close to allow passengers and objects to pass therethrough. Forexample, wheelchair passenger 250 may send, via an application on amobile device, a request for the WAV to open doors to a remote computingsystem. In response to receiving the request, the remote computingsystem may then send a command to the internal computing system. Inresponse to receiving the command, the internal computing system canthen control the doors 202 to open and/or send a command to a systemcontrolling the doors 202 to open the doors 202.

Like doors 202, wheelchair ramp 210 is configured to receive commandsfrom the internal computing system 110 and/or the remote computingsystem 150. The wheelchair ramp 210 can, in response to receivingcommands from the internal computing system and/or remote computingsystem, automatically load and/or unload to allow wheelchairs to becross thereon.

Similarly, wheelchair restraint system 220 is configured to receivecommands from the internal computing system 110 and/or the remotecomputing system 150. The wheelchair restraint system 220 can, inresponse to receiving commands from the internal computing system and/orremote computing system, automatically secure and/or release awheelchair.

FIG. 3A-3B show example environments 300 a, 300 b during various stepsof restraining and/or securing the wheelchair 250.

More specifically, FIG. 3A illustrates the wheelchair and/or wheelchairpassenger 250 in a cabin of the WAV 102. After the wheelchair passenger250 has entered the cabin of the WAV 102, the ramp 210 may be loadedback onto WAV 102 and the doors 202 closed. Although not shown, in someembodiments, the doors 102 may not be closed yet and/or the ramp may notbe loaded yet. Although the wheelchair passenger 250 has enter the cabinof the WAV, the wheelchair restraint system 220 has not yet beenengaged. The wheelchair passenger 250 may position the wheelchair in thecabin, such that the wheelchair restraint system 220 may, after beingengaged, secure the wheelchair.

FIG. 3B illustrates the wheelchair and/or wheelchair passenger 250secured by the wheelchair restraint system 220. Furthermore, wheelchairramp 210 may be loaded back onto WAV 102 and the doors 202 closed. Atthis time, wheelchair passenger 250 may send information to WAV 102indicating that the wheelchair passenger 250 is ready for WAV 102 tobegin driving. In other words, after the wheelchair and/or wheelchairpassenger 250 is properly secured by wheelchair restraint system 220,the doors 202 closed, and the wheelchair ramp 210 loaded, WAV 102 canbegin driving.

FIG. 4 shows an example method 400 for assisting passenger ingress.Example method 400 starts at step 402, in which a remote computingsystem receives a rideshare request to use a wheelchair-accessibleautonomous vehicle (WAV). In some embodiments, the remote computingsystem receives and processes the rideshare request through a rideshareservice, such as rideshare service 158.

At step 404, the remote computing system dispatches the WAV to alocation of the passenger. In some embodiments, the remote computingsystem dispatches the WAV through a rideshare service, such as rideshareservice 158. The WAV may receive the dispatch information throughcommunication service 116. In some embodiments, the location of thepassenger may be determined using location services, such as GlobalPositioning System (GPS), cellular networks, etc. Similarly, in someembodiments, the passenger may set the location. Accordingly, thelocation of the passenger may, in some scenarios, be different from anactual position of the passenger when the passenger submits the request.

At step 406, the remote computing system determines that the WAV hasarrived at the location of the passenger. The remote computing systemmay utilize similar location services, cellular networks, etc. todetermine a location of both the WAV and the location of the passenger.

At step 408, the remote computing system receives a request for the WAVto execute an ingress function. The request may be sent through aridesharing application, such as ridesharing app 170. The request maythen be received through a rideshare service, such as rideshare service158. The remote computing system may then process the request anddetermine the ingress function. In some embodiments, the ingressfunction may include a deployment of a wheelchair ramp by the WAV and/orloading the wheelchair ramp after the passenger has boarded the WAV.Similarly, in some embodiments, the ingress function may include openingdoors of the WAV and/or closing the doors of the WAV after the passengerhas boarded the WAV. Likewise, in some embodiments, the ingress functionmay include engaging an automated restraint system configured to securethe wheelchair in the WAV. In some embodiments, the ingress function maybe any combination of the above processes.

At step 410, the remote computing system sends an ingress command to theWAV in response to the request. In some embodiments, the remotecomputing system sends the command to the internal computing system ofthe WAV, which receives the command through a communication service,such as communication service 116. The ingress command comprisesinstructions to cause the WAV to execute the ingress function at aspecified pick-up location, such as the location of the passenger.

At step 412, the remote computing system receives feedback from the WAV.As the WAV executes the ingress function, the WAV may send feedback tothe remote computing system. In some embodiments, the WAV may send thefeedback through a communication service, such as communication service116. The feedback may include sensor data associated with a door to theWAV, a wheelchair ramp, and/or a wheelchair restraint system. Forexample, the sensor data may indicate that the wheelchair ramp is beingunloaded. Similarly, the feedback may include status informationassociated with the ingress function. For example, the statusinformation may indicate that a request has been received, that the WAVis executing the ingress function, that the WAV has completed theingress function, that there is a fault state, etc.

At step 414, the remote computing system sends at least a portion of thefeedback to the passenger of the WAV. In some embodiments, the remotecomputing system may send the feedback to the passenger through arideshare service, such as rideshare service 158. Accordingly, thepassenger will be aware of the status of the WAV executing the ingressfunction. In some embodiments, the remote computing system may send thestatus information associated with the ingress function to thepassenger. In some embodiments, the remote computing system may send allof the feedback to the passenger.

In some embodiments, at step 416, the remote computing system determinesthat the status of the function includes a fault state. A fault statemay be any state, in which the WAV is unable to complete the ingressfunction. For example, the WAV may include in the feedback, that a faultstate has been detected because the sensors have detected an objectpassing by, such that the wheelchair ramp cannot be unloaded safely. Asanother example, the WAV may include in the feedback, that a fault statehas been detected because the wheelchair should be moved a few inches tobe properly restrained. Thus, the remote computing system can connectthe passenger with a remote assistance operator. In some embodiments,the passenger may first resend the request. For example, the passengermay resent the request after moving the wheelchair in a suggesteddirection to be properly restrained. In some embodiments, the remotecomputing system may automatically connect the passenger with the remoteassistance operator. The remote assistance operator may assist thepassenger remotely. For example, the remote assistance operator mayreceive additional sensor data to determine the cause of the faultstate. The remote assistance operator may then remotely send commands tothe WAV to complete the ingress function.

At step 418, the remote computing system receives information from thepassenger indicating readiness for the WAV to begin driving. In someembodiments, after the passenger has boarded the WAV and the wheelchairis properly secured and/or restrained, the passenger may sendinformation to the remote computing system and/or the internal computingsystem of the WAV. In some embodiments, the passenger may send theinformation through a rideshare app, such as rideshare app 170, on themobile device of the passenger. In some embodiments, the WAV may havesensors in the cabin of the vehicle to determine that the passenger isready. For example, the WAV may have microphones, such that the WAV maydetermine that the passenger is ready if the passenger says, “I amready.” In some embodiments, the ingress functions may include loadingthe ramp and closing the doors. In other embodiments, the internalcomputing system may, in response to determining that the passenger isready, load the ramp, close the doors, and/or secure the wheelchair.

FIG. 5 shows an example method 500 for assisting passenger egress.Example method 500 may be used in conjunction with example method 400and/or alone. Example method 500 starts at step 502, in which the remotecomputing system determines that the WAV has arrived at a destination.The remote computing system may utilize similar location services,cellular networks, etc. to determine a location of both the WAV and thelocation of the destination.

At step 504, the remote computing system sends an egress command to theWAV. The egress command includes egress instructions to cause the WAV toexecute an egress function. In some embodiments, the remote computingsystem may send the egress command in response to receiving a requestfor the WAV to execute the egress function. The request may be sentthrough a ridesharing application, such as ridesharing app 170. Therequest may then be received through a rideshare service, such asrideshare service 158. The remote computing system may then process therequest and determine the egress function. In some embodiments, theegress function may include a deployment of a wheelchair ramp by the WAVand/or loading the wheelchair ramp after the passenger has exited theWAV. Similarly, in some embodiments, the egress function may includeopening doors of the WAV and/or closing the doors of the WAV after thepassenger has exited the WAV. Likewise, in some embodiments, the egressfunction may include disengaging an automated restraint systemconfigured to release the wheelchair in the WAV. In some embodiments,the egress function may be any combination of the above processes. Insome embodiments, the remote computing system sends the command to theinternal computing system of the WAV, which receives the egress commandthrough a communication service, such as communication service 116. Theegress command comprises instructions to cause the WAV to execute theegress function at a specified drop-off location, such as thedestination.

At step 506, the remote computing system receives egress feedback fromthe WAV. As the WAV executes the egress function, the WAV may sendegress feedback to the remote computing system. In some embodiments, theWAV may send the egress feedback through a communication service, suchas communication service 116. The egress feedback may include egresssensor data associated with a door to the WAV, a wheelchair ramp, and/ora wheelchair restraint system. For example, the egress sensor data mayindicate that the wheelchair ramp is being unloaded. Similarly, theegress feedback may include status information associated with theegress function. For example, the status information may indicate that arequest has been received, that the WAV is executing the egressfunction, that the WAV has completed the egress function, that there isa fault state, etc.

At step 508, the remote computing system sends at least a portion of theegress feedback to the passenger of the WAV. In some embodiments, theremote computing system may send the egress feedback to the passengerthrough a rideshare service, such as rideshare service 158. Accordingly,the passenger will be aware of the status of the WAV executing theegress function. In some embodiments, the remote computing system maysend the status information associated with the egress function to thepassenger. In some embodiments, the remote computing system may send allof the feedback to the passenger.

In some embodiments, at step 510, the remote computing system determinesthat the status of the egress function includes a fault state. A faultstate may be any state, in which the WAV is unable to complete theegress function. For example, the WAV may include in the egressfeedback, that a fault state has been detected because the sensors havedetected an object passing by, such that the wheelchair ramp cannot beunloaded safely. Thus, the remote computing system connects thepassenger with a remote assistance operator. In some embodiments, thepassenger may first resend the request. In some embodiments, the remotecomputing system may automatically connect the passenger with the remoteassistance operator. The remote assistance operator may assist thepassenger remotely. For example, the remote assistance operator mayreceive additional sensor data to determine the cause of the faultstate. The remote assistance operator may then remotely send commands tothe WAV to complete the egress function.

At step 512, the remote computing system receives information from thepassenger indicating egress. In other words, the remote computing systemreceives information from the passenger that the passenger has fullydisembarked from the WAV. In some embodiments, after the passenger hasexited the WAV, the passenger may send information to the remotecomputing system and/or the internal computing system of the WAV. Insome embodiments, the passenger may send the information through arideshare app, such as rideshare app 170, on the mobile device of thepassenger. In some embodiments, the WAV may have sensors on an exteriorof the cabin of the vehicle to determine that the passenger hasdisembarked from the WAV. For example, the WAV may have cameras on anexterior of the WAV, such that the WAV may determine that the passengerhas deboarded when the cameras detect the wheelchair has moved away fromthe wheelchair ramp. The WAV may then load the wheelchair ramp, closethe doors, and begin a new rideshare journey.

FIG. 6 shows an example of computing system 600, which can be forexample any computing device making up internal computing system 110,remote computing system 150, (potential) passenger device executingrideshare app 170, or any component thereof in which the components ofthe system are in communication with each other using connection 605.Connection 605 can be a physical connection via a bus, or a directconnection into processor 610, such as in a chipset architecture.Connection 605 can also be a virtual connection, networked connection,or logical connection.

In some embodiments, computing system 600 is a distributed system inwhich the functions described in this disclosure can be distributedwithin a datacenter, multiple data centers, a peer network, etc. In someembodiments, one or more of the described system components representsmany such components each performing some or all of the function forwhich the component is described. In some embodiments, the componentscan be physical or virtual devices.

Example system 600 includes at least one processing unit (CPU orprocessor) 610 and connection 605 that couples various system componentsincluding system memory 615, such as read-only memory (ROM) 620 andrandom access memory (RAM) 625 to processor 610. Computing system 600can include a cache of high-speed memory 612 connected directly with, inclose proximity to, or integrated as part of processor 610.

Processor 610 can include any general purpose processor and a hardwareservice or software service, such as services 632, 634, and 636 storedin storage device 630, configured to control processor 610 as well as aspecial-purpose processor where software instructions are incorporatedinto the actual processor design. Processor 610 may essentially be acompletely self-contained computing system, containing multiple cores orprocessors, a bus, memory controller, cache, etc. A multi-core processormay be symmetric or asymmetric.

To enable user interaction, computing system 600 includes an inputdevice 645, which can represent any number of input mechanisms, such asa microphone for speech, a touch-sensitive screen for gesture orgraphical input, keyboard, mouse, motion input, speech, etc. Computingsystem 600 can also include output device 635, which can be one or moreof a number of output mechanisms known to those of skill in the art. Insome instances, multimodal systems can enable a user to provide multipletypes of input/output to communicate with computing system 600.Computing system 600 can include communications interface 640, which cangenerally govern and manage the user input and system output. There isno restriction on operating on any particular hardware arrangement, andtherefore the basic features here may easily be substituted for improvedhardware or firmware arrangements as they are developed.

Storage device 630 can be a non-volatile memory device and can be a harddisk or other types of computer readable media which can store data thatare accessible by a computer, such as magnetic cassettes, flash memorycards, solid state memory devices, digital versatile disks, cartridges,random access memories (RAMs), read-only memory (ROM), and/or somecombination of these devices.

The storage device 630 can include software services, servers, services,etc., that when the code that defines such software is executed by theprocessor 610, it causes the system to perform a function. In someembodiments, a hardware service that performs a particular function caninclude the software component stored in a computer-readable medium inconnection with the necessary hardware components, such as processor610, connection 605, output device 635, etc., to carry out the function.

For clarity of explanation, in some instances, the present technologymay be presented as including individual functional blocks includingfunctional blocks comprising devices, device components, steps orroutines in a method embodied in software, or combinations of hardwareand software.

Any of the steps, operations, functions, or processes described hereinmay be performed or implemented by a combination of hardware andsoftware services or services, alone or in combination with otherdevices. In some embodiments, a service can be software that resides inmemory of a client device and/or one or more servers of a contentmanagement system and perform one or more functions when a processorexecutes the software associated with the service. In some embodiments,a service is a program or a collection of programs that carry out aspecific function. In some embodiments, a service can be considered aserver. The memory can be a non-transitory computer-readable medium.

In some embodiments, the computer-readable storage devices, mediums, andmemories can include a cable or wireless signal containing a bit streamand the like. However, when mentioned, non-transitory computer-readablestorage media expressly exclude media such as energy, carrier signals,electromagnetic waves, and signals per se.

Methods according to the above-described examples can be implementedusing computer-executable instructions that are stored or otherwiseavailable from computer-readable media. Such instructions can comprise,for example, instructions and data which cause or otherwise configure ageneral purpose computer, special purpose computer, or special purposeprocessing device to perform a certain function or group of functions.Portions of computer resources used can be accessible over a network.The executable computer instructions may be, for example, binaries,intermediate format instructions such as assembly language, firmware, orsource code. Examples of computer-readable media that may be used tostore instructions, information used, and/or information created duringmethods according to described examples include magnetic or opticaldisks, solid-state memory devices, flash memory, USB devices providedwith non-volatile memory, networked storage devices, and so on.

Devices implementing methods according to these disclosures can comprisehardware, firmware and/or software, and can take any of a variety ofform factors. Typical examples of such form factors include servers,laptops, smartphones, small form factor personal computers, personaldigital assistants, and so on. The functionality described herein alsocan be embodied in peripherals or add-in cards. Such functionality canalso be implemented on a circuit board among different chips ordifferent processes executing in a single device, by way of furtherexample.

The instructions, media for conveying such instructions, computingresources for executing them, and other structures for supporting suchcomputing resources are means for providing the functions described inthese disclosures.

Although a variety of examples and other information was used to explainaspects within the scope of the appended claims, no limitation of theclaims should be implied based on particular features or arrangements insuch examples, as one of ordinary skill would be able to use theseexamples to derive a wide variety of implementations. Further andalthough some subject matter may have been described in languagespecific to examples of structural features and/or method steps, it isto be understood that the subject matter defined in the appended claimsis not necessarily limited to these described features or acts. Forexample, such functionality can be distributed differently or performedin components other than those identified herein. Rather, the describedfeatures and steps are disclosed as examples of components of systemsand methods within the scope of the appended claims.

What is claimed is:
 1. A method comprising: receiving a request for awheelchair-accessible autonomous vehicle (WAV) to execute an ingressfunction, wherein the ingress function includes a deployment of awheelchair ramp by the WAV and engaging an automated restraint systemconfigured to secure a wheelchair in the WAV; sending an ingress commandto the WAV in response to the request, wherein the ingress commandcomprises instructions to cause the WAV to execute the ingress functionat a specified pick-up location; and receiving feedback from the WAV,wherein the feedback includes sensor data associated with the wheelchairramp and the automated restraint system and status informationassociated with the ingress function.
 2. The method of claim 1, whereinthe ingress function further includes opening doors of the WAV.
 3. Themethod of claim 1, further comprising: determining that the WAV hasarrived at a destination; sending an egress command to the WAV, whereinthe egress command comprises egress instructions to cause the WAV toexecute an egress function at the destination, wherein the egressfunction includes a deployment of the wheelchair ramp by the WAV; andreceiving egress feedback from the WAV, the egress feedback includesegress sensor data associated with the wheelchair ramp and egress statusinformation associated with the egress function.
 4. The method of claim1, further comprising: sending the feedback to a passenger of the WAV,wherein the passenger utilizes the wheelchair.
 5. The method of claim 1,further comprising: receiving a rideshare request to use the WAV forridesharing; dispatching the WAV to a location of a passenger; anddetermining that the WAV has arrived at the location of the passenger.6. The method of claim 1, further comprising: connecting a passengerwith a remote assistance operator if the status information indicates afault state.
 7. The method of claim 1, further comprising: receivinginformation from a passenger, the information indicating readiness forthe WAV to begin driving.
 8. A non-transitory computer-readable mediumcomprising instructions stored therein, which when executed by one ormore processors cause the one processors to perform operations,comprising: receiving a request for a wheelchair-accessible autonomousvehicle (WAV) to execute an ingress function, wherein the ingressfunction includes a deployment of a wheelchair ramp by the WAV andengaging an automated restraint system configured to secure a wheelchairin the WAV; sending an ingress command to the WAV in response to therequest, wherein the ingress command comprises instructions to cause theWAV to execute the ingress function at a specified pick-up location; andreceiving feedback from the WAV, wherein the feedback includes sensordata associated with the wheelchair ramp and the automated restraintsystem and status information associated with the ingress function. 9.The non-transitory computer-readable medium of claim 8, furthercomprising: determining that the WAV has arrived at a destination;sending an egress command to the WAV, wherein the egress commandcomprises egress instructions to cause the WAV to execute an egressfunction at the destination, wherein the egress function includes adeployment of the wheelchair ramp by the WAV; and receiving egressfeedback from the WAV, the egress feedback includes egress sensor dataassociated with the wheelchair ramp and egress status informationassociated with the egress function.
 10. The non-transitorycomputer-readable medium of claim 8, further comprising: sending thefeedback to a passenger of the WAV, wherein the passenger utilizes awheelchair.
 11. The non-transitory computer-readable medium of claim 8,further comprising: receiving a rideshare request to use the WAV forridesharing; dispatching the WAV to a location of a passenger; anddetermining that the WAV has arrived at the location of the passenger.12. The non-transitory computer-readable medium of claim 8, furthercomprising: connecting a passenger with a remote assistance operator ifthe status information indicates a fault state.
 13. The non-transitorycomputer-readable medium of claim 8, further comprising: receivinginformation from a passenger, the information indicating readiness forthe WAV to begin driving.
 14. A system comprising: one or moreprocessors; and a computer-readable medium comprising instructionsstored therein, which when executed by the one or more processors, causethe one or more processors to perform operations comprising: receiving arequest for a wheelchair-accessible autonomous vehicle (WAV) to executean ingress function, wherein the ingress function includes a deploymentof a wheelchair ramp by the WAV and engaging an automated restraintsystem configured to secure a wheelchair in the WAV; sending an ingresscommand to the WAV in response to the request, wherein the ingresscommand comprises instructions to cause the WAV to execute the ingressfunction at a specified pick-up location; and receiving feedback fromthe WAV, wherein the feedback includes sensor data associated with thewheelchair ramp and the automated restraint system and statusinformation associated with the ingress function.
 15. The system ofclaim 14, wherein the instructions further cause the one or moreprocessors to perform operations comprising: determining that the WAVhas arrived at a destination; sending an egress command to the WAV,wherein the egress command comprises egress instructions to cause theWAV to execute an egress function at the destination, wherein the egressfunction includes a deployment of the wheelchair ramp by the WAV; andreceiving egress feedback from the WAV, the egress feedback includesegress sensor data associated with the wheelchair ramp and egress statusinformation associated with the egress function.
 16. The system of claim14, wherein the instructions further cause the one or more processors toperform operations comprising: sending the feedback to a passenger ofthe WAV, wherein the passenger utilizes a wheelchair.
 17. The system ofclaim 14, wherein the instructions further cause the one or moreprocessors to perform operations comprising: receiving a ridesharerequest to use the WAV for ridesharing; dispatching the WAV to alocation of a passenger; and determining that the WAV has arrived at thelocation of the passenger.
 18. The system of claim 14, wherein theinstructions further cause the one or more processors to performoperations comprising: connecting a passenger with a remote assistanceoperator if the status information indicates a fault state.
 19. Themethod of claim 1, wherein the status information indicates that a faultstate has been detected, the method further comprising: providing areason for the fault state to a passenger of the WAV.
 20. The method ofclaim 19, further comprising receiving a request that is re-sent by thepassenger after the passenger is provided the reason for the faultstate; and completing the ingress function.